We evaluated SIFT under two conditions.
First, forcing it to select the point minimising the SSR.
Second, allowing it to filter out points with the nearest neighbor to second nearest neighbor distance ratio greater than \(0.8\)  to remove false positive matches for the high-dimensional descriptors, as described in the original publication [1]}.
In the second case, for the frames where the distance between the nearest neighbors exceeded the threshold, SIFT failed to find a matching feature.
We, therefore, assigned the largest possible error to such frames, \(i.e.\)  the length of the diagonal of the image 516.14 pixels.
